WO1998010244A1 - Verfahren und vorrichtung zur bestimmung der räumlichen koordinaten von gegenständen - Google Patents
Verfahren und vorrichtung zur bestimmung der räumlichen koordinaten von gegenständen Download PDFInfo
- Publication number
- WO1998010244A1 WO1998010244A1 PCT/DE1997/001975 DE9701975W WO9810244A1 WO 1998010244 A1 WO1998010244 A1 WO 1998010244A1 DE 9701975 W DE9701975 W DE 9701975W WO 9810244 A1 WO9810244 A1 WO 9810244A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- patterns
- light
- light patterns
- objects
- recorded
- Prior art date
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
Definitions
- the invention relates to a device and a method for measuring distances and / or spatial coordinates of objects and / or changing them over time according to the preambles of claims 1 and 9.
- Devices and methods of this type are used for 3D measuring methods, in particular in mechanical engineering, automobile construction, ceramic industry, shoe industry, jewelry industry, medicine and other areas. They are used to check the dimensional accuracy and quality control of components in production or to digitize designs, models and samples. There is increasing interest in 3D measurement methods, especially in medicine. 3D measurements open up new possibilities here Diagnostics and in connection with digitization systems in plastic surgery.
- optical measuring methods lie in the non-contact and thus non-reactive measurement and in the fact that the information about the object is available in a pictorial form and is therefore easy to understand.
- optical measurement methods include the stripe projection technology including the Gray code technology, the Moire method, the holographic and speckle contouring method and photogrammetry.
- the measurement parameters of interest ie the spatial coordinates of the surface of objects
- indirectly from phase measurement values in cut line images of light patterns, for example stripe patterns, which are projected onto the project, from phase measurement values in Moires, from coordinates of the penetration points of observation beams are determined by the receiver plane and from parameters which characterize the geometry of the measurement arrangement, ie the light sources, optical components and the image recording device.
- the geometry parameters of the measurement arrangement known, one can calculate the coordinates of the measuring points on the surface of the object in a sensor coordinate system by triangulation from three linearly independent phase measurement values and image or pixel coordinates.
- a method for measuring the shape or shape change of bodies with a scattering surface in which by means of three mutually independent sets of surfaces of equal brightness and taking into account the geometry parameters of the lighting and recording device for each measuring point on the surface of the three spatial coordinates can be determined.
- a reference point is defined as the zero point of a coordinate system on the surface of the body, relative to which the coordinates of the remaining surface points are determined. Passing marks on the object are also required to combine partial views.
- the coded light method is used as a triangulation technique to measure the object.
- the exposure of the object with a stripe pattern is carried out by the projector which enables the best illumination of the object in relation to the object and in relation to the position of the sensor.
- a disadvantage of the methods according to the prior art is that the properties, ie the geometry parameters of the measuring device have an influence on the determination of the coordinates of the measuring points. Therefore, these geometry parameters usually have to be determined by measuring a known object before starting the measurement.
- the object of the present invention is to provide a method and a device for determining the spatial coordinates of objects and / or their change over time, which calibrates itself and enables a high density of measurement points while at the same time determining coordinates quickly.
- the object is illuminated successively from at least two predetermined directions and from each of these directions again with at least two independent light patterns in succession or from each direction with a light pattern, its light intensity as a sum of second independent Light patterns can be described, a total of at least four recordings of independent light patterns or two recordings of independent light patterns and composed of two independent light patterns are available. This means that per
- Measuring point at least four phase measurements can be determined from the total of four independent light patterns. This means that more than the three independent measurement values required to determine the coordinate of the measurement point are available per measurement point, so that with the help of the surplus measurement values, the geometry parameters of the measurement device can also be determined using otherwise known mathematical methods, such as, for example, bundle compensation.
- All the required parameters and coordinates can be determined from the four phase measurement values per measurement point alone. Since the number of measuring points is very high, the number of excess phase measurements is also large. For example, in the case of exposure from ten or twenty directions, each measuring point contributes seven or seventeen extra phase measurements to determine the geometric parameters of the arrangement.
- a self-calibrating system is subsequently provided, since the system or geometry parameters which are absolutely necessary in addition to the measured values for a coordinate calculation are determined simultaneously with the coordinate values.
- the determination of homologous points with the help of features, correlation techniques or markings, which is necessary in photogrammetry, is no longer necessary. No marks or control points are required to merge partial views.
- the number of excess measurement values is far greater than the number of geometry parameters to be determined. It is therefore no longer necessary to know, for example, the optical imaging properties of the sensor system, for example the CCD camera.
- the measuring method is therefore independent of the properties of the components of the measuring system used.
- Two stripe patterns for example line gratings, can advantageously be used as independent light patterns. If these are rotated relative to each other by a predetermined angle, ideally 90 °, then evaluation is possible using simple mathematical algorithms. In addition, other angle settings between 0 ° and 90 ° are possible. In these cases, more than two angular positions can be used.
- An additive cross grating for example, is suitable as a light pattern, the light intensity of which can be described as the sum of two independent light patterns.
- Such a cross grating can be regarded as an independent superimposition of two periodic line grids rotated by 90 ° with respect to one another.
- the measuring time can be further reduced with the method according to the invention. Will be the same for the exposure of the individual light patterns If the projection device is used, the geometry and imaging properties of this projection device only have to be determined from the phase measurement values. In this case, of course, the projection device must be moved between the individual exposure processes.
- Fig. 1 shows a measuring device according to the invention
- Fig. 2 is a schematic representation of the method according to the invention.
- one or more line gratings or Gray code sequences are projected onto the object to be measured from at least two different directions that can be selected as desired.
- the generated intensity distributions are registered by at least one camera, which are used to calculate the phase measurement values using otherwise known phase-step or phase-shift techniques or combinations of Gray code and phase-step techniques allow every measuring point.
- the position of the camera or cameras remains unchanged during registration.
- the grid lines or the gray code sequence are rotated through 90 ° or also through one or more angles between 0 ° and 90 ° and projected again from the same direction onto the object, the axis of rotation being perpendicular to the grating surface.
- phase values measured in this way correspond to coordinate measured values in the grid plane of the projector, the index j indicating the number of illuminating devices or illuminating directions.
- x, y, z coordinates of the measuring point in a given sensor coordinate system
- x OJ , y 0J , z OJ coordinates of the projection centers of the
- r ui matrix elements of a rotation matrix that describe the rotation of the grid coordinate system against the coordinate system x, y, z, - JT-J O - phase values at the main point of the projector
- c projector constant that describes the vertical distance between the grid plane and the projection center
- c is a parameter that is the same for all projector positions
- ⁇ line spacing of the grid.
- phase measurement values and coordinates can be expanded in a simple manner so that the distortion of the projector lens is also taken into account as a geometry parameter.
- both the coordinates of the measuring points and the sensor parameters can be calculated simultaneously from the phase measurement values obtained with at least two different projection directions.
- FIG. 1 shows a measuring device according to the invention with two projectors 2 and 4 and a CCD camera 3.
- two stripe patterns with intermittent grating rotation are projected onto an object 1 from two different directions, which are recorded by the CCD camera 3.
- at least four phase measurement values for each measuring point and the coordinates of the measuring point and from these phase measurement values are made from these recorded images of the surface of the object 1 determines the geometry and imaging properties of the measuring device.
- FIG. 2 shows the successive projection of stripe patterns perpendicular to one another onto an object 1.
- the same reference numerals designate the same elements.
- 2A shows a projection device which has a light source 5, a condenser lens 6, a strip grating 7a and a projection lens 8.
- the projection device uses the line grid 7a to project a perpendicular line pattern onto the object 1 to be measured.
- the stripe pattern created on the object 1 is recorded by a camera.
- a second step uses the line grid 7a to project a perpendicular line pattern onto the object 1 to be measured.
- the stripe pattern created on the object 1 is recorded by a camera.
- Step the line grid 7a is rotated through 90 ° and, as in FIG. 2B, is projected as a line grid 7b from the projection device onto the object 1.
- This line pattern generated on the surface of the object to be measured is also recorded by the camera.
- each light pattern gives a phase measurement value for each measurement point on the surface of the object 1, four phase measurement values are available for each measurement point for determining the coordinates of the measurement points and the geometry parameters of the measurement arrangement.
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- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP97942804A EP0923705B1 (de) | 1996-09-05 | 1997-09-03 | Verfahren und vorrichtung zur bestimmung der räumlichen koordinaten von gegenständen |
DE59706787T DE59706787D1 (de) | 1996-09-05 | 1997-09-03 | Verfahren und vorrichtung zur bestimmung der räumlichen koordinaten von gegenständen |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19637682A DE19637682B4 (de) | 1996-09-05 | 1996-09-05 | Verfahren zur Bestimmung der räumlichen Koordinaten von Gegenständen und/oder deren zeitlicher Änderung und Vorrichtung zur Anwendung dieses Verfahrens |
DE19637682.3 | 1996-09-05 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1998010244A1 true WO1998010244A1 (de) | 1998-03-12 |
Family
ID=7805775
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE1997/001975 WO1998010244A1 (de) | 1996-09-05 | 1997-09-03 | Verfahren und vorrichtung zur bestimmung der räumlichen koordinaten von gegenständen |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0923705B1 (de) |
DE (2) | DE19637682B4 (de) |
ES (1) | ES2175463T3 (de) |
WO (1) | WO1998010244A1 (de) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19747061B4 (de) * | 1997-10-24 | 2005-02-10 | Mähner, Bernward | Verfahren und Einrichtung zur flächenhaften, dreidimensionalen, optischen Vermessung von Objekten |
DE19827788C2 (de) * | 1998-06-23 | 2003-08-28 | Dieter Dirksen | Vorrichtung und Verfahren zur dreidimensionalen Erfassung charakteristischer Messpunkte des Zahnbogens |
DE19852149C2 (de) * | 1998-11-04 | 2000-12-07 | Fraunhofer Ges Forschung | Vorrichtung zur Bestimmung der räumlichen Koordinaten von Gegenständen |
DE10049926A1 (de) * | 2000-10-07 | 2002-04-11 | Robert Massen | Kamera zur kostengünstigen Erfassung der Raumform von Körpern |
DE10212364A1 (de) | 2002-03-20 | 2003-10-16 | Steinbichler Optotechnik Gmbh | Verfahren und Vorrichtung zur Bestimmung der Absolut-Koordinaten eines Objekts |
DE10219054B4 (de) | 2002-04-24 | 2004-08-26 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Verfahren und Vorrichtung zur Bestimmung der räumlichen Koordinaten eines Gegenstandes |
WO2004097335A1 (en) * | 2003-04-25 | 2004-11-11 | Ecole Polytechnique Federale De Lausanne (Epfl) | Shape and deformation measurements of large objects by fringe projection |
DE102005043753A1 (de) * | 2005-09-13 | 2007-03-15 | Deutsche Mechatronics Gmbh | Verfahren zur Bestimmung der Raumkoordinaten von Oberflächenpunkten eines Prüflings und Vorrichtung zur Durchführung des Verfahrens |
US20080156619A1 (en) | 2006-12-01 | 2008-07-03 | Mehul Patel | Range finder |
DE102007054907A1 (de) | 2007-11-15 | 2009-05-28 | Sirona Dental Systems Gmbh | Verfahren zur optischen Vermessung von Objekten unter Verwendung eines Triangulationsverfahrens |
DE102010064593A1 (de) * | 2009-05-21 | 2015-07-30 | Koh Young Technology Inc. | Formmessgerät und -verfahren |
DE102014208636B4 (de) | 2014-05-08 | 2018-06-28 | Asphericon Gmbh | Verfahren und Vorrichtung zur Messung einer Dezentrierung und Verkippung von Flächen eines optischen Elements |
CN103983247B (zh) * | 2014-05-16 | 2016-06-29 | 哈尔滨工业大学 | 基于二次平台线阵ccd的倾角测量方法 |
US9693040B2 (en) | 2014-09-10 | 2017-06-27 | Faro Technologies, Inc. | Method for optically measuring three-dimensional coordinates and calibration of a three-dimensional measuring device |
DE102014019669B4 (de) * | 2014-12-30 | 2019-05-02 | Faro Technologies, Inc. | 16Verfahren zum optischen Abtasten und Vermessen einer Umgebung mit einer 3D-Messvorrichtung und Autokalibrierung mit vorgegebenen Bedingungen |
DE102014013678B3 (de) | 2014-09-10 | 2015-12-03 | Faro Technologies, Inc. | Verfahren zum optischen Abtasten und Vermessen einer Umgebung mit einem Handscanner und Steuerung durch Gesten |
DE102014013677B4 (de) | 2014-09-10 | 2017-06-22 | Faro Technologies, Inc. | Verfahren zum optischen Abtasten und Vermessen einer Umgebung mit einem Handscanner und unterteiltem Display |
US9602811B2 (en) | 2014-09-10 | 2017-03-21 | Faro Technologies, Inc. | Method for optically measuring three-dimensional coordinates and controlling a three-dimensional measuring device |
DE102015204474B4 (de) * | 2015-03-12 | 2016-10-13 | Hans-Günter Vosseler | Vorrichtung und Verfahren zum berührungslosen dreidimensionalen Vermessen von Bauteilen |
CN107270820B (zh) * | 2017-06-05 | 2019-05-17 | 上海交通大学 | 一种大型薄壁构件壁厚在位测量系统和方法 |
US20200014909A1 (en) | 2018-07-03 | 2020-01-09 | Faro Technologies, Inc. | Handheld three dimensional scanner with autofocus or autoaperture |
CN111038071B (zh) * | 2019-11-14 | 2021-07-02 | 东莞市银泰丰光学科技有限公司 | 一种丝印网版的生产方法 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4416108A1 (de) * | 1994-05-06 | 1995-11-09 | Fraunhofer Ges Forschung | Vorrichtung zum berührungsfreien Vermessen einer Objektoberfläche |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4007500A1 (de) * | 1990-03-09 | 1991-09-12 | Zeiss Carl Fa | Verfahren und vorrichtung zur beruehrungslosen vermessung von objektoberflaechen |
-
1996
- 1996-09-05 DE DE19637682A patent/DE19637682B4/de not_active Expired - Lifetime
-
1997
- 1997-09-03 DE DE59706787T patent/DE59706787D1/de not_active Expired - Lifetime
- 1997-09-03 EP EP97942804A patent/EP0923705B1/de not_active Expired - Lifetime
- 1997-09-03 WO PCT/DE1997/001975 patent/WO1998010244A1/de active IP Right Grant
- 1997-09-03 ES ES97942804T patent/ES2175463T3/es not_active Expired - Lifetime
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4416108A1 (de) * | 1994-05-06 | 1995-11-09 | Fraunhofer Ges Forschung | Vorrichtung zum berührungsfreien Vermessen einer Objektoberfläche |
Non-Patent Citations (1)
Title |
---|
SCHREIBER W ET AL: "OPTISCHE DREIKOORDINATENMESSUNG MIT STRUKTURIERTER BELEUCHTUNG", TECHNISCHES MESSEN TM 1982 - 1988 INCOMPLETE, vol. 62, no. 9, 1 September 1995 (1995-09-01), pages 321 - 327, XP000527989 * |
Also Published As
Publication number | Publication date |
---|---|
DE19637682B4 (de) | 2004-04-29 |
EP0923705A1 (de) | 1999-06-23 |
DE59706787D1 (de) | 2002-05-02 |
ES2175463T3 (es) | 2002-11-16 |
DE19637682A1 (de) | 1998-03-12 |
EP0923705B1 (de) | 2002-03-27 |
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